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# dContactGeom Struct Reference
[Collision Detection]

Describe the contact point between two geoms. More...

`#include <contact.h>`

## Data Fields
dVector3 | pos
| contact position
dVector3 | normal
| normal vector
dReal | depth
| penetration depth
dGeomID | g1
dGeomID | g2
| the colliding geoms
int | side1
int | side2
| (to be documented)

## Detailed Description

Describe the contact point between two geoms.

If two bodies touch, or if a body touches a static feature in its environment, the contact is represented by one or more "contact points", described by dContactGeom.

The convention is that if body 1 is moved along the normal vector by a distance depth (or equivalently if body 2 is moved the same distance in the opposite direction) then the contact depth will be reduced to zero. This means that the normal vector points "in" to body 1.

The documentation for this struct was generated from the following file:

- contact.h